Automatic cap collecting and stacking integrated machine

Abstract

This application provides an automatic cap-collecting and palletizing machine. The machine's frame is equipped with a bag-picking module, a bag-filling module, a sealing module, a palletizing module, and a control module. In the bag-picking module, a bag transport mechanism retrieves a packaging bag from a storage compartment and drags it along a first guide rail, bringing the bag opening to the bag-filling end of the first guide rail. In the bag-filling module, a second guide rail connects to the first guide rail. A first gripping mechanism picks up a round cap and places it on the second guide rail, while a first cap-pushing mechanism pushes the cap along the second guide rail into the bag opening at the bag-filling end. In the sealing module, a clamping mechanism grips the bag opening, and a folding mechanism folds the gripped bag opening towards the outer wall of the packaging bag for sealing. The palletizing module includes a second gripping mechanism that picks up the packaging bag containing the round cap to complete the palletizing. The control module controls the aforementioned modules to perform their respective functions. This equipment integrates multiple steps such as bag picking, bag filling, sealing, and palletizing into a single automated system, reducing the need for manual intervention.

Description

Technical Field

[0001] This application relates to the field of round cover palletizing technology, and in particular to an automatic cover palletizing machine. Background Technology

[0002] In modern manufacturing, especially in the food, beverage, and pharmaceutical industries, the production and packaging of bottom caps is a crucial step. The bottom cap workshop is responsible for producing and processing these caps to ensure they can be successfully used for subsequent packaging and transportation.

[0003] Traditional bottom cover processing relies primarily on manual labor. In the bottom cover workshop, workers are typically responsible for collecting, sorting, and stacking the bottom covers (i.e., bottom cover stacking). However, traditional manual labor presents several challenges when performing long hours of highly repetitive work. First, workers are prone to fatigue during prolonged periods of repetitive labor, which not only affects work efficiency but can also lead to operational errors. Furthermore, during manual processing, workers directly handle the products, which may adversely affect product hygiene and quality. Utility Model Content

[0004] This application provides an automatic capping and palletizing machine to solve the problems in the prior art where workers are prone to fatigue during long hours of repetitive labor, which affects work efficiency and leads to operational errors, as well as the adverse effects of manual operation on product hygiene and quality.

[0005] This application provides an automatic cap-collecting and palletizing machine, which includes: a frame, and a bag-picking module, a bag-filling module, a sealing module, a palletizing module, and a control module installed on the frame;

[0006] The bag retrieval module includes a storage compartment, a bag transport mechanism, and a first guide rail. The storage compartment stores the packaging bags. The bag retrieval module is used to: control the bag transport mechanism to retrieve the packaging bags from the storage compartment and drag the packaging bags along the length of the first guide rail so that the opening of the packaging bags reaches the bag filling end of the first guide rail.

[0007] The bagging module includes a first gripping mechanism, a second guide rail, and a first cap-pushing mechanism. The second guide rail is connected to the first guide rail. The bagging module is used to: control the first gripping mechanism to grip the round cap and place the round cap into the second guide rail; control the first cap-pushing mechanism to push the round cap along the length of the second guide rail to the bagging end of the first guide rail; and push the round cap into the packaging bag from the bag opening.

[0008] The sealing module includes a clamping mechanism and a folding mechanism. The sealing module is used to: control the clamping mechanism to clamp the opening of the packaging bag, and control the folding mechanism to drive the opening of the bag to fold towards the outer wall of the packaging bag to seal it.

[0009] The palletizing module includes a second gripping mechanism, which is used to control the second gripping mechanism to grip the packaging bag to the target position for palletizing;

[0010] The control module is communicatively connected to the bag-taking module, the bag-filling module, the sealing module, and the palletizing module. The control module is used to control the bag-taking module, the bag-filling module, the sealing module, and the palletizing module to perform their functions.

[0011] In one possible design, the bag transport mechanism includes a towing device and a bag retrieval device located below the storage compartment. The towing device is slidably connected to the first guide rail, and the bag retrieval device includes a tray, a base, and a forward transport device.

[0012] The base is vertically provided with multiple first lifting and adsorption devices. One end of the first lifting and adsorption device is connected to the base, and the other end of the first lifting and adsorption device carries the tray. The end of the first lifting and adsorption device carrying the tray is provided with a first suction cup. The forward transport device is connected to the base.

[0013] The bag transport mechanism is used to: control the first suction cup to rise and adsorb the packaging bag in the storage compartment, and then control the first suction cup to descend so that the tray carries the packaging bag;

[0014] The forward transport device is controlled to move the bag-taking device toward the first guide rail;

[0015] The towing device is controlled to engage the paper bag and move along the length of the first guide rail to transport the opening of the packaging bag to the bagging end of the first guide rail.

[0016] In one possible design, the bag transport mechanism further includes a second lifting and adsorption device and a fixed adsorption device disposed on the first guide rail, wherein the second lifting and adsorption device is provided with a second suction cup.

[0017] The bag transport mechanism is used for:

[0018] Control the second lifting and adsorption device to drive the second suction cup to rise and fall, and control the second suction cup to adsorb the upper side of the bag opening;

[0019] Control the second lifting adsorption device to move the second suction cup to the corresponding position of the fixed adsorption device;

[0020] The fixed adsorption device is controlled to adsorb the lower side of the bag opening.

[0021] In one possible design, the bag-retrieving module further includes a bag-retrieving robot and a first moving device. The bag-retrieving robot is equipped with multiple gripping components. The bag-retrieving robot is connected to the first moving device, and the first moving device is connected to the frame.

[0022] The bag-removing module is also used for:

[0023] The multiple gripping components of the bag-picking robot grip the packaging bag on the first guide rail;

[0024] The first moving device is controlled to drive the bag-picking robot arm to move along the length of the first guide rail;

[0025] Control the first moving device to drive the bag-picking robot to move along the lateral direction of the first guide rail;

[0026] The first moving device is controlled to drive the bag-retrieving robotic arm to rise and fall.

[0027] In one possible design, the bagging module further includes a second moving device connected to the frame, and the first gripping mechanism is rotatably connected to the second moving device via a rotating shaft;

[0028] The bagging module is used for:

[0029] Control the second moving device to drive the first gripping mechanism to rotate around the rotating shaft;

[0030] Control the second moving device to drive the first gripping mechanism to rise and fall;

[0031] The second moving device is controlled to drive the first gripping mechanism to move laterally along the second guide rail.

[0032] In one possible design, the clamping mechanism includes a lateral clamping device connected to the first moving device, and a longitudinal clamping device connected to the frame via a third moving device.

[0033] The lateral clamping device includes clamping gates arranged opposite each other, and the longitudinal clamping device includes a first clamping plate and a second clamping plate arranged longitudinally, with the second clamping plate located below the first clamping plate, and the folding mechanism connected to the first clamping plate;

[0034] The sealing module is specifically used to control the horizontal opening and closing of the clamping gate to clamp the bag opening or release the clamping of the bag opening;

[0035] Control the first clamping plate and the second clamping plate to open and close longitudinally, so as to clamp the bag opening longitudinally or release the bag opening;

[0036] The third moving device is controlled to drive the longitudinal clamping device to rise and fall.

[0037] In one possible design, the palletizing module further includes a first transverse guide rail connected to the frame, and a fourth moving device slidably connected to the first transverse guide rail;

[0038] The fourth moving device includes a first longitudinal guide rail that is vertically arranged relative to the first transverse guide rail, and the second gripping mechanism is slidably connected to the first longitudinal guide rail.

[0039] The palletizing module is used for:

[0040] Control the fourth moving device to move along the length direction of the first transverse guide rail;

[0041] The fourth moving device is controlled to drive the second gripping mechanism to move along the length of the first longitudinal guide rail.

[0042] In one possible design, the palletizing module further includes a lifting mechanism, which includes a platform, a shielding device, and a fifth moving device.

[0043] The platform includes a vertically arranged second longitudinal guide rail, the shielding device is slidably connected to the second longitudinal guide rail, and the shielding device includes at least two opposing baffles;

[0044] The fifth moving device is connected to the platform and the shielding device respectively. The palletizing module is also used to control the fifth moving device to drive the shielding device to move up and down along the length of the second longitudinal guide rail.

[0045] In one possible design, the palletizing module further includes a wrapping device and a sixth moving device;

[0046] The film wrapping device includes a second transverse guide rail, a connector, and a winding shaft. The second longitudinal guide rail is vertically arranged relative to the second transverse guide rail. The second transverse guide rail is connected to the shielding device. The connector is slidably connected to the second transverse guide rail and is connected to the winding shaft. The winding shaft is arranged along the transverse direction of the second transverse guide rail.

[0047] The sixth moving device is connected to the connector, and the palletizing module is also used to control the sixth moving device to drive the connector to move along the length direction of the second transverse guide rail.

[0048] In one possible design, the palletizing module further includes a conveying mechanism, which includes a conveyor table, a conveyor belt, and a drive motor.

[0049] The conveyor belt is mounted on the conveyor table and the conveyor belt passes around the table surface. One end of the conveyor belt is located in the lateral position of the first guide rail, and the other end of the conveyor belt is located below the second gripping mechanism. The drive motor is connected to the conveyor belt. The palletizing module is also used to control the drive motor to drive the conveyor belt to rotate.

[0050] The automatic capping and palletizing machine provided in this application integrates multiple steps such as bag picking, bag filling, sealing, and palletizing into a single automated system, reducing the need for manual intervention. Through the coordination of the control module, each module can automatically execute its respective function, achieving fully automated operation. This improves production efficiency and reduces worker fatigue and operational errors. The automated equipment reduces direct contact between the product and human hands, lowering the risk of product contamination. The automated system can complete each operation step with high precision and consistency, reducing quality fluctuations caused by human error. Attached Figure Description

[0051] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0052] Figure 1 A schematic diagram of an automatic capping and palletizing machine provided in an embodiment of this application;

[0053] Figure 2 A schematic diagram of the bag transport mechanism provided in the embodiments of this application;

[0054] Figure 3 This is a top view of the lateral clamping device provided in an embodiment of this application;

[0055] Figure 4 A schematic diagram of the longitudinal clamping device provided in the embodiments of this application;

[0056] Figure 5 A schematic diagram of the fourth mobile device provided in the embodiments of this application;

[0057] Figure 6 A schematic diagram of the lifting mechanism provided in the embodiments of this application;

[0058] Figure 7 This is a schematic diagram of the conveying mechanism provided in the embodiments of this application.

[0059] Figure label:

[0060] 100-rack;

[0061] 200 - Storage Warehouse;

[0062] 300-Bag transport mechanism;

[0063] 310 - Towing device;

[0064] 320 - Bag taking device;

[0065] 321 - Pallet;

[0066] 322 - Base;

[0067] 323 - Forward transport device;

[0068] 324 - First lifting and adsorption device;

[0069] 325 - First suction cup;

[0070] 326 - Second lifting and adsorption device;

[0071] 327 - Fixed adsorption device;

[0072] 328 - Second suction cup;

[0073] 330-bag-retrieving robotic arm;

[0074] 331-Clamping component;

[0075] 340 - First moving device;

[0076] 400 - First guide rail;

[0077] 500-Packaging Bag;

[0078] 600 - First grabbing mechanism;

[0079] 700 - Second guide rail;

[0080] 800 - First push-cover mechanism;

[0081] 900-Round Cap;

[0082] 1000 - Clamping mechanism;

[0083] 1010-Clamping switch;

[0084] 1020 - Third mobile device;

[0085] 1030 - First clamping plate;

[0086] 1040 - Second clamping plate;

[0087] 1100 - Folding mechanism;

[0088] 1200 - Second gripping mechanism;

[0089] 1300 - First transverse guide rail;

[0090] 1400 - First longitudinal guide rail;

[0091] 1500-stand;

[0092] 1510 - Second longitudinal guide rail;

[0093] 1600-baffle;

[0094] 1700 - Fifth Mobile Device;

[0095] 1800 - Wrapping device;

[0096] 1810 - Second transverse guide rail;

[0097] 1820 - Connector;

[0098] 1830 - Winding shaft;

[0099] 1900 - Stretch film;

[0100] 2000 - Conveyor Table;

[0101] 2100 - Transmission Track;

[0102] 2200 - Drive motor.

[0103] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0104] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0105] To address the problems in existing technologies where workers are prone to fatigue during prolonged repetitive labor, leading to decreased work efficiency and operational errors, as well as the adverse effects of manual operation on product hygiene and quality, the technical concept of this application is:

[0106] Design an automatic cap-collecting and palletizing machine. The machine includes a frame, on which are mounted a bag-picking module, a bag-filling module, a sealing module, a palletizing module, and a control module. The bag-picking module includes a storage compartment, a bag transport mechanism, and a first guide rail. The storage compartment stores packaging bags. The bag transport mechanism retrieves packaging bags from the storage compartment and drags them along the first guide rail until the bag opening reaches the bag-filling end of the first guide rail. The bag-filling module includes a first gripping mechanism, a second guide rail, and a first cap-pushing mechanism. The second guide rail is connected to the first guide rail. The first gripping mechanism picks up a round cap and places it on the second guide rail. The first cap-pushing mechanism pushes the round cap along the second guide rail into the bag opening at the bag-filling end, thus pushing the round cap into the packaging bag. The sealing module includes a clamping mechanism and a folding mechanism. After the round cap is pushed into the packaging bag, the clamping mechanism clamps the bag opening, and the folding mechanism folds the clamped bag opening towards the outer wall of the packaging bag to seal it. The palletizing module includes a second gripping mechanism, which picks up the packaging bag containing the round cap to complete the palletizing. The control module controls the aforementioned modules to perform their respective functions.

[0107] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0108] Example: Example 1

[0109] Figure 1 This is a schematic diagram of an automatic capping and palletizing machine provided in an embodiment of this application, as shown below. Figure 1 As shown, the automatic capping and palletizing machine includes a frame 100, and a bag-picking module, a bag-filling module, a sealing module, a palletizing module, and a control module mounted on the frame 100. It should be noted that the frame 100 can be a single unit or composed of multiple non-connected parts, and the implementation of the bag-picking module, bag-filling module, sealing module, palletizing module, and control module is not limited to these specific implementations. Figure 1 The implementation method shown is as follows.

[0110] like Figure 1 As shown, the bag-retrieving module includes a storage bin 200, a bag transport mechanism 300, and a first guide rail 400. The storage bin 200 stores packaging bags 500. The bag-retrieving module is used to: control the bag transport mechanism 300 to retrieve the packaging bag 500 from the storage bin 200, and drag the packaging bag 500 along the length of the first guide rail 400 so that the opening of the packaging bag 500 reaches the bagging end of the first guide rail 400. Specifically, as shown... Figure 1As shown, the storage compartment 200 can store packaging bags 500. The bag transport mechanism 300 can be equipped with multiple vacuum suction cups that rise in the direction indicated by the left arrow. Using a vacuuming device, the suction cups create a vacuum, adsorb the packaging bags 500, and then lower them. Next, as indicated by the right arrow, the packaging bags 500 are moved along the length of the first guide rail 400 to the bagging end. The bag transport mechanism 300 can be lifted and lowered using a cylinder, and its horizontal movement can be achieved using a servo motor.

[0111] The bagging module includes a first gripping mechanism 600, a second guide rail 700, and a first cap-pushing mechanism 800. The second guide rail 700 is connected to the first guide rail 400. The bagging module is used to: control the first gripping mechanism 600 to grip the round cap 900 and place it into the second guide rail 700; control the first cap-pushing mechanism 800 to push the round cap 900 along the length of the second guide rail 700 to the bagging end of the first guide rail 400; and push the round cap 900 into the packaging bag 500 through the bag opening. Specifically, a cap-collecting device can be provided on the side of the second guide rail 700 to stack the round caps 900, and the first gripping mechanism 600 grips the round caps 900 onto the second guide rail 700. The first gripping mechanism 600 can grip the round cap 900 by lifting and translating, or it can be connected to the frame 100 by a connecting rod. By configuring a corresponding moving mechanism, the rotation and pitch of the connecting rod can drive the first gripping mechanism 600 to move. The first gripping mechanism 600 can grip the round cap 900 using vacuum adsorption or mechanical gripping. The first cap-pushing mechanism 800 can be driven by a cylinder to move on the second guide rail 700, thereby pushing the round cap 900 into the packaging bag 500.

[0112] The sealing module includes a clamping mechanism 1000 and a folding mechanism 1100. The sealing module is used to: control the clamping mechanism 1000 to clamp the opening of the packaging bag 500, and control the folding mechanism 1100 to fold the opening of the bag towards the outer wall of the packaging bag 500 for sealing. Specifically, the clamping mechanism 1000 can clamp the opening of the bag longitudinally or laterally. After the clamping mechanism 1000 clamps the opening, the folding mechanism 1100 can fold the opening of the bag towards the outer wall of the packaging bag 500 by pushing the clamping mechanism 1000 horizontally. The sealing module can be located on the side of the first guide rail 400. After the round cover 900 is inserted into the packaging bag 500, the bag transport mechanism 300 can move laterally and descend to allow the sealing module to fold and seal the opening of the bag.

[0113] The palletizing module includes a second gripping mechanism 1200, which is used to control the second gripping mechanism 1200 to grip the packaging bag 500 and palletize it at the target position. The second gripping mechanism 1200 can grip the round cap 900 by lifting and translating, or it can be connected to the frame 100 by a connecting rod. By configuring a corresponding moving mechanism, the rotation and pitch of the connecting rod can drive the second gripping mechanism 1200 to move. The second gripping mechanism 1200 can grip the round cap 900 by vacuum adsorption or mechanical gripping.

[0114] The control module communicates with the bag-picking module, bag-filling module, sealing module, and palletizing module. The control module controls the functions of these modules. Specifically, the control module may include a programmable logic controller (PLC) and sensors, connected to each module via signal lines, and utilizes sensor feedback to control the actions of each module.

[0115] The technical advantages of this embodiment are as follows: This equipment integrates multiple steps such as bag picking, bag filling, sealing, and palletizing into a single automated system, reducing the need for manual intervention. Through the coordination of the control module, each module can automatically execute its respective function, achieving fully automated operation. Therefore, it can improve production efficiency and reduce worker fatigue and operational errors. Automated equipment reduces direct contact between products and human hands, lowering the risk of product contamination. The automated system can complete each operation step with high precision and consistency, reducing quality fluctuations caused by human operation.

[0116] Example 2

[0117] Figure 2 This is a schematic diagram of the bag transport mechanism provided in the embodiments of this application, such as... Figure 2 As shown, the bag transport mechanism 300 includes a towing device 310 and a bag retrieval device 320 located below the storage compartment 200. The towing device 310 is slidably connected to the first guide rail 400, and the bag retrieval device 320 includes a tray 321, a base 322, and a forward transport device 323.

[0118] A plurality of first lifting adsorption devices 324 are vertically arranged on the base 322. One end of the first lifting adsorption device 324 is connected to the base 322, and the other end of the first lifting adsorption device 324 carries a tray 321. A first suction cup 325 is provided at the end of the first lifting adsorption device 324 carrying the tray 321. A forward transport device 323 is connected to the base 322.

[0119] The bag transport mechanism 300 is used to: control the first suction cup 325 to rise and suction the packaging bag 500 in the storage compartment 200, and then control the first suction cup 325 to descend so that the tray 321 carries the packaging bag 500;

[0120] The forward transport device 323 drives the bag-taking device 320 to move toward the first guide rail 400;

[0121] The control conveying device 310 engages the paper bag and moves along the length of the first guide rail 400 to transport the opening of the packaging bag 500 to the bagging end of the first guide rail 400.

[0122] Specifically, the first suction cup 325 can be connected to a vacuuming device. When the first lifting suction device 324 raises the first suction cup 325, the first suction cup 325 suctions the bottom of the paper bag through vacuuming. Then, the first lifting suction device 324 can lower the first suction cup 325, thereby allowing the tray 321 to carry the packaging bag 500. The end of the towing device 310 facing the packaging bag 500 can also be equipped with a suction cup, thereby suctioning the packaging bag 500 and dragging it along the first guide rail 400. The forward transport device 323 can include a cylinder device, which drives the base 322 to move back and forth via the piston rod of the cylinder. The first lifting suction device 324 can be raised and lowered using a cylinder device, and the towing device 310 can be driven to move on the first guide rail 400 using a servo motor.

[0123] like Figure 2 As shown, the bag transport mechanism 300 also includes a second lifting adsorption device 326 and a fixed adsorption device 327 provided on the first guide rail 400. The second lifting adsorption device 326 is provided with a second suction cup 328.

[0124] The bag transport mechanism 300 is used for:

[0125] Control the second lifting and adsorption device 326 to drive the second suction cup 328 to lift and lower, and control the second suction cup 328 to adsorb the upper side of the bag opening;

[0126] The second lifting adsorption device 326 is controlled to move the second suction cup 328 to the corresponding position of the fixed adsorption device 327;

[0127] Control the lower side of the adsorption bag opening of the fixed adsorption device 327.

[0128] Since the packaging bags 500 in the storage compartment 200, such as paper bags, are usually flattened, an opening operation is required. Specifically, the bag transport mechanism 300 transfers the packaging bag 500 to the first guide rail 400. At this time, the second lifting suction device 326 can be controlled to move to the left to the bag opening position. The second lifting suction device 326 descends and suctions the bag opening from above through the second suction cup 328. Then, the second lifting suction device 326 drags the bag opening to the position of the fixed suction device 327. The fixed suction device 327 is controlled to suction the lower side of the bag opening. Then, the second lifting suction device 326 is controlled to rise, thus opening the bag opening for subsequent bagging operations. After the bag opening is opened, the dragging device 310 can suction the inside of the bag opening and drag the packaging bag 500. The second suction cup 328 and the fixed suction device 327 can be connected to a vacuum device to achieve vacuum suction. The second lifting suction device 326 can be equipped with a cylinder device. The piston rod of the cylinder device is connected to the second suction cup 328, thereby causing the cylinder device to drive the second suction cup 328 to rise and fall. The second lifting adsorption device 326 can be driven by a motor to move along the guide rail, thereby moving the second suction cup 328 to the corresponding position of the fixed adsorption device 327.

[0129] like Figure 2 As shown, the bag-retrieving module also includes a bag-retrieving robot 330 and a first moving device 340. The bag-retrieving robot 330 is provided with multiple clamping components 331. The bag-retrieving robot 330 is connected to the first moving device 340, and the first moving device 340 is connected to the frame 100.

[0130] The bag-retrieving module is also used for:

[0131] Multiple gripping components 331 of the bag-retrieving robot 330 grip the packaging bag 500 on the first guide rail 400;

[0132] The first moving device 340 is controlled to drive the bag-picking robot 330 to move along the length of the first guide rail 400.

[0133] The first moving device 340 is controlled to drive the bag-picking robot 330 to move along the lateral direction of the first guide rail 400;

[0134] The first moving device 340 is controlled to drive the bag-picking robot arm 330 to rise and fall.

[0135] Specifically, the first moving device 340 can be configured with a horizontal guide rail, which can slide along a longitudinal guide rail. The bag-picking robot 330 can also slide along the horizontal guide rail, and the longitudinal guide rail can be connected to another horizontal guide rail on the frame 100. The first moving device 340 can be configured with a servo motor to drive the bag-picking robot 330 to slide along the horizontal guide rail, or drive the horizontal guide rail to slide along the longitudinal guide rail, or drive the longitudinal guide rail to slide along the horizontal guide rail on the frame 100, thereby enabling the bag-picking robot 330 to move vertically, horizontally, and backward, and to adjust the position of the packaging bag 500.

[0136] Example 3

[0137] In this embodiment, the bagging module further includes a second moving device, which is connected to the frame 100, and the first gripping mechanism 600 is rotatably connected to the second moving device via a rotating shaft;

[0138] The bagging module is used for:

[0139] The second moving device is controlled to drive the first gripping mechanism 600 to rotate around the pivot.

[0140] Control the second moving device to drive the first gripping mechanism 600 to rise and fall;

[0141] The second moving device is controlled to drive the first gripping mechanism 600 to move laterally along the second guide rail 700.

[0142] Specifically, the second moving device may include a cylinder device, the piston rod of which is connected to the first gripping mechanism 600 to drive the first gripping mechanism 600 to rise and fall. The second moving device may be equipped with a rotary motor to drive the first gripping mechanism 600 to rotate around a rotating shaft. After the first gripping mechanism 600 grips the round cover 900, it can rotate and place the round cover 900 into the second guide rail 700, realizing the right-side-up and left-side-up installation of the round cover 900.

[0143] Example 4

[0144] In this embodiment, the clamping mechanism 1000 includes a lateral clamping device and a longitudinal clamping device. Figure 3 This is a top view of the lateral clamping device provided in the embodiments of this application, as shown below. Figure 3 As shown, the clamping mechanism 1000 includes a lateral clamping device connected to the first moving device 340, and the lateral clamping device includes clamping gates 1010 disposed opposite to each other.

[0145] Figure 4 This is a schematic diagram of the longitudinal clamping device provided in the embodiments of this application, as shown below. Figure 4As shown, the longitudinal clamping device is connected to the frame 100 via the third moving device 1020. The longitudinal clamping device includes a first clamping plate 1030 and a second clamping plate 1040 arranged longitudinally. The second clamping plate 1040 is located below the first clamping plate 1030. The folding mechanism 1100 is connected to the first clamping plate 1030.

[0146] The sealing module is specifically used to control the horizontal opening and closing of the clamping gate 1010 to clamp or release the bag opening;

[0147] Control the first clamping plate 1030 and the second clamping plate 1040 to open and close longitudinally, so as to clamp the bag opening longitudinally or release the clamping of the bag opening.

[0148] The third moving device 1020 is controlled to drive the longitudinal clamping device to rise and fall.

[0149] Specifically, the opening of the packaging bag 500 can be provided with a folded seam. When the clamping gate 1010 clamps the folded seam laterally, the bag body at the folded seam folds inward, thereby clamping the bag opening into a flat shape. At this time, since the lateral clamping device is connected to the first moving device 340, the first moving device 340 can drive the bag-removing robot 330 to move the packaging bag 500 to the longitudinal clamping device on the side of the lateral clamping device. The longitudinal clamping device clamps the flattened opening of the packaging bag 500 longitudinally, and the clamping gate 1010 releases. Then, the third moving device 1020 drives the longitudinal clamping device to descend, and the clamped bag opening descends accordingly. At this time, the folding mechanism 1100 on the first clamping plate 1030 is extended to fold the bag opening towards the outer wall of the packaging bag 500. The third moving device 1020 can be equipped with a longitudinal guide rail and a servo motor. The longitudinal folding device is connected to the longitudinal guide rail, and the servo motor drives the longitudinal folding device to rise and fall along the guide rail. The folding mechanism 1100 can be equipped with a small cylinder device, which pushes the folding mechanism 1100 to extend by extending the piston rod.

[0150] The sealing module may also include a heating air gun, which is set in front of the longitudinal clamping mechanism. When the bag opening is folded toward the bag body, the heating air gun can blow hot air to heat the adhesive on the bag body, thereby completing the sealing of the bag body.

[0151] Example 5

[0152] Figure 5 A schematic diagram of the fourth mobile device provided in the embodiments of this application is shown below. Figure 5 As shown, the palletizing module also includes a first transverse guide rail 1300 connected to the frame 100, and a fourth moving device is slidably connected to the first transverse guide rail 1300.

[0153] The fourth moving device includes a first longitudinal guide rail 1400 that is vertically arranged relative to the first transverse guide rail 1300, and a second gripping mechanism 1200 that is slidably connected to the first longitudinal guide rail 1400.

[0154] The palletizing module is used for:

[0155] Control the fourth moving device to move along the length direction of the first transverse guide rail 1300;

[0156] The fourth moving device is controlled to drive the second gripping mechanism 1200 to move along the length of the first longitudinal guide rail 1400.

[0157] Specifically, such as Figure 5 As shown, the second gripping mechanism 1200 can move up and down along the first longitudinal guide rail 1400, and the first longitudinal guide rail 1400 can move along the first transverse guide rail 1300, thereby realizing the translation and lifting of the second gripping mechanism 1200. The first longitudinal guide rail 1400 can be moved by a motor, and similarly, the second gripping mechanism 1200 can be lifted up and down along the first longitudinal guide rail 1400 by a motor.

[0158] Figure 6 A schematic diagram of the lifting mechanism provided in the embodiments of this application, such as... Figure 6 As shown, optionally, the palletizing module also includes a lifting mechanism, which includes a platform 1500, a shielding device, and a fifth moving device 1700; the platform 1500 includes a vertically arranged second longitudinal guide rail 1510, the shielding device is slidably connected to the second longitudinal guide rail 1510, and the shielding device includes at least two oppositely arranged baffles 1600.

[0159] The fifth moving device 1700 is connected to the platform 1500 and the shielding device respectively. The palletizing module is also used to control the fifth moving device 1700 to drive the shielding device to move up and down along the length direction of the second longitudinal guide rail 1510.

[0160] Specifically, such as Figure 6 As shown, the bagged packaging bags 500 are stacked, and the two baffles 1600 of the shielding device are located on both sides of the stacked packaging bags 500 to prevent the stack from tipping over. By setting a fifth moving device 1700, the baffles 1600 can be raised as the stacking height increases. The fifth moving device 1700 can be equipped with a servo motor to drive the shielding device to rise and fall along the second longitudinal guide rail 1510.

[0161] like Figure 6 As shown, the palletizing module also includes a wrapping device 1800. The wrapping device 1800 includes a second transverse guide rail 1810, a connector 1820, and a winding shaft 1830. The second longitudinal guide rail 1510 is vertically arranged relative to the second transverse guide rail 1810. The second transverse guide rail 1810 is connected to a shielding device. The connector 1820 is slidably connected to the second transverse guide rail 1810 and is connected to the winding shaft 1830. The winding shaft 1830 is arranged along the transverse direction of the second transverse guide rail 1810.

[0162] The sixth moving device is connected to the connector 1820. The palletizing module is also used to control the sixth moving device to drive the connector 1820 to move along the length direction of the second transverse guide rail 1810.

[0163] Specifically, a stretch film 1900 can be fitted onto the winding shaft 1830, such as... Figure 6 As shown, during the palletizing process, the stretch film 1900 can be wrapped around the packaging bag 500 for palletizing. By moving the connector 1820 laterally along the second transverse guide rail 1810 in the direction indicated by the arrow, the stretch film 1900 can be wrapped around the packaging bag 500 in an S-shape, thus achieving palletizing. The sixth moving device can be located inside the guide rail body of the second transverse guide rail 1810; for example, a motor can drive the connector 1820 to move along the second transverse guide rail 1810.

[0164] Optionally, the palletizing module also includes a conveying mechanism. Figure 7 This is a schematic diagram of the conveying mechanism provided in the embodiments of this application, such as... Figure 7 As shown, the conveying mechanism includes a conveyor table 2000, a conveyor belt 2100, and a drive motor 2200;

[0165] The conveyor belt 2100 is installed on the conveyor table 2000 and the conveyor belt 2100 bypasses the table surface of the conveyor table 2000. One end of the conveyor belt 2100 is located in the lateral position of the first guide rail 400, and the other end of the conveyor belt 2100 is located below the second gripping mechanism 1200. The drive motor 2200 is connected to the conveyor belt 2100. The palletizing module is also used to control the drive motor 2200 to drive the conveyor belt 2100 to rotate.

[0166] Specifically, the bag-picking robot 330 can move laterally, so it can grab the sealed packaging bag 500 and move it in the direction shown by the arrow, placing the packaging bag 500 on the conveyor belt 2100. The conveyor belt 2100 transports the packaging bag 500 to the area below the second gripping mechanism 1200, and the second gripping mechanism 1200 grabs the packaging bag 500 for palletizing.

[0167] Finally, it should be noted that other embodiments of this utility model will readily occur to those skilled in the art upon consideration of the specification and practice of the utility model disclosed herein. This utility model is intended to cover any variations, uses, or adaptations of this utility model that follow the general principles of this utility model and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this utility model is limited only by the appended claims.

Claims

1. An automatic cap-collecting and palletizing integrated machine, characterized in that, The automatic capping and palletizing integrated machine includes: a frame (100), and a bag picking module, a bag filling module, a sealing module, a palletizing module, and a control module installed on the frame (100); The bag-retrieving module includes a storage compartment (200), a bag transport mechanism (300), and a first guide rail (400). The storage compartment (200) stores packaging bags (500). The bag-retrieving module is used to: control the bag transport mechanism (300) to retrieve the packaging bag (500) from the storage compartment (200) and drag the packaging bag (500) along the length direction of the first guide rail (400) so that the opening of the packaging bag (500) reaches the bag-filling end of the first guide rail (400). The bagging module includes a first gripping mechanism (600), a second guide rail (700), and a first cap-pushing mechanism (800). The second guide rail (700) is connected to the first guide rail (400). The bagging module is used to: control the first gripping mechanism (600) to grip the round cap (900) and place the round cap (900) into the second guide rail (700); control the first cap-pushing mechanism (800) to push the round cap (900) along the length direction of the second guide rail (700) to the bagging end of the first guide rail (400); and push the round cap (900) into the packaging bag (500) from the bag opening. The sealing module includes a clamping mechanism (1000) and a folding mechanism (1100). The sealing module is used to: control the clamping mechanism (1000) to clamp the opening of the packaging bag (500), and control the folding mechanism (1100) to drive the opening of the bag to fold towards the outer wall of the packaging bag (500) to seal it. The palletizing module includes a second gripping mechanism (1200), which is used to control the second gripping mechanism (1200) to grip the packaging bag (500) to the target position for palletizing; The control module is communicatively connected to the bag-taking module, the bag-filling module, the sealing module, and the palletizing module. The control module is used to control the bag-taking module, the bag-filling module, the sealing module, and the palletizing module to perform their functions.

2. The automatic cap-collecting and palletizing integrated machine according to claim 1, characterized in that, The bag transport mechanism (300) includes a towing device (310) and a bag retrieval device (320) located below the storage compartment (200). The towing device (310) is slidably connected to the first guide rail (400). The bag retrieval device (320) includes a tray (321), a base (322), and a forward transport device (323). The base (322) is vertically provided with a plurality of first lifting adsorption devices (324). One end of the first lifting adsorption device (324) is connected to the base (322), and the other end of the first lifting adsorption device (324) carries the tray (321). The end of the first lifting adsorption device (324) carrying the tray (321) is provided with a first suction cup (325). The forward transport device (323) is connected to the base (322). The bag transport mechanism (300) is used to: control the first suction cup (325) to rise and suction the packaging bag (500) in the storage compartment (200), and then control the first suction cup (325) to descend so that the tray (321) carries the packaging bag (500). The forward transport device (323) is controlled to drive the bag-taking device (320) to move toward the first guide rail (400); The towing device (310) is controlled to engage the packaging bag (500) and move along the length of the first guide rail (400) to transport the opening of the packaging bag (500) to the bagging end of the first guide rail (400).

3. The automatic cap-collecting and palletizing integrated machine according to claim 2, characterized in that, The bag transport mechanism (300) further includes a second lifting adsorption device (326) and a fixed adsorption device (327) provided on the first guide rail (400). The second lifting adsorption device (326) is provided with a second suction cup (328). The bag transport mechanism (300) is used for: Control the second lifting and adsorption device (326) to drive the second suction cup (328) to rise and fall, and control the second suction cup (328) to adsorb the upper side of the bag opening; Control the second lifting adsorption device (326) to drive the second suction cup (328) to the corresponding position of the fixed adsorption device (327); Control the fixed adsorption device (327) to adsorb the lower side of the bag opening.

4. The automatic cap-collecting and palletizing integrated machine according to claim 1, characterized in that, The bag-retrieving module also includes a bag-retrieving robot (330) and a first moving device (340). The bag-retrieving robot (330) is provided with multiple clamping components (331). The bag-retrieving robot (330) is connected to the first moving device (340), and the first moving device (340) is connected to the frame (100). The bag-removing module is also used for: The multiple clamping components (331) of the bag-picking robot (330) clamp the packaging bag (500) on the first guide rail (400). The first moving device (340) is controlled to drive the bag-picking robot (330) to move along the length direction of the first guide rail (400); Control the first moving device (340) to drive the bag-picking robot (330) to move along the lateral direction of the first guide rail (400); The first moving device (340) is controlled to drive the bag-picking robot (330) to rise and fall.

5. The automatic cap-collecting and palletizing integrated machine according to claim 1, characterized in that, The bagging module further includes a second moving device, which is connected to the frame (100), and the first gripping mechanism (600) is rotatably connected to the second moving device via a rotating shaft; The bagging module is used for: Control the second moving device to drive the first gripping mechanism (600) to rotate around the rotating shaft; Control the second moving device to drive the first gripping mechanism (600) to rise and fall; Control the second moving device to drive the first gripping mechanism (600) to move laterally along the second guide rail (700).

6. The automatic cap-collecting and palletizing integrated machine according to claim 4, characterized in that, The clamping mechanism (1000) includes a transverse clamping device connected to the first moving device (340), and a longitudinal clamping device connected to the frame (100) via a third moving device (1020). The lateral clamping device includes clamping gates (1010) arranged opposite to each other, and the longitudinal clamping device includes a first clamping plate (1030) and a second clamping plate (1040) arranged longitudinally. The second clamping plate (1040) is located below the first clamping plate (1030), and the folding mechanism (1100) is connected to the first clamping plate (1030). The sealing module is specifically used to control the horizontal opening and closing of the clamping gate (1010) to clamp the bag opening or release the clamping of the bag opening; Control the first clamping plate (1030) and the second clamping plate (1040) to open and close longitudinally, so as to clamp the bag opening longitudinally or release the bag opening; The third moving device (1020) is controlled to drive the longitudinal clamping device to rise and fall.

7. The automatic cap-collecting and palletizing integrated machine according to claim 1, characterized in that, The palletizing module also includes a first transverse guide rail (1300) connected to the frame (100), and a fourth moving device is slidably connected to the first transverse guide rail (1300); The fourth moving device includes a first longitudinal guide rail (1400) vertically arranged relative to the first transverse guide rail (1300), and the second gripping mechanism (1200) is slidably connected to the first longitudinal guide rail (1400); The palletizing module is used for: Control the fourth moving device to move along the length direction of the first transverse guide rail (1300); The fourth moving device is controlled to drive the second gripping mechanism (1200) to move along the length direction of the first longitudinal guide rail (1400).

8. The automatic cap-collecting and palletizing integrated machine according to claim 1, characterized in that, The palletizing module also includes a lifting mechanism, which includes a platform (1500), a shielding device, and a fifth moving device (1700). The platform (1500) includes a vertically arranged second longitudinal guide rail (1510), the shielding device is slidably connected to the second longitudinal guide rail (1510), and the shielding device includes at least two oppositely arranged baffles (1600). The fifth moving device (1700) is connected to the platform (1500) and the shielding device respectively. The palletizing module is also used to control the fifth moving device (1700) to drive the shielding device to move up and down along the length direction of the second longitudinal guide rail (1510).

9. The automatic cap-collecting and palletizing integrated machine according to claim 8, characterized in that, The palletizing module also includes a wrapping device (1800) and a sixth moving device; The film wrapping device (1800) includes a second transverse guide rail (1810), a connector (1820), and a winding shaft (1830). The second longitudinal guide rail (1510) is vertically arranged relative to the second transverse guide rail (1810). The second transverse guide rail (1810) is connected to the shielding device. The connector (1820) is slidably connected to the second transverse guide rail (1810). The connector (1820) is connected to the winding shaft (1830). The winding shaft (1830) is arranged along the transverse direction of the second transverse guide rail (1810). The sixth moving device is connected to the connector (1820), and the palletizing module is also used to control the sixth moving device to drive the connector (1820) to move along the length direction of the second transverse guide rail (1810).

10. The automatic cap-collecting and palletizing integrated machine according to claim 1, characterized in that, The palletizing module also includes a conveying mechanism, which includes a conveyor table (2000), a conveyor belt (2100), and a drive motor (2200). The conveyor belt (2100) is mounted on the conveyor table (2000) and the conveyor belt (2100) passes around the table surface of the conveyor table (2000). One end of the conveyor belt (2100) is located in the lateral position of the first guide rail (400), and the other end of the conveyor belt (2100) is located below the second gripping mechanism (1200). The drive motor (2200) is connected to the conveyor belt (2100). The palletizing module is also used to control the drive motor (2200) to drive the conveyor belt (2100) to rotate.

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